ut: convert make rules to template and add TAP file generation

Make targets changed to:
 make ut_<test>
 make ut_<test>_tap
 make ut_<test>_run
 make ut_<test>_clean
 make all_ut
 make all_ut_tap
 make all_ut_run
 make all_ut_clean

Conflicts:
	Makefile

Makefile

@@ -116,6 +116,10 @@ help:
 	@echo "     all_<board>          - Build all available images for <board>"
 	@echo "     all_<board>_clean    - Remove all available images for <board>"
 	@echo
+	@echo "     all_ut               - Build all unit tests"
+	@echo "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
+	@echo "     all_ut_run           - Run all unit tests and dump TAP output to console"
+	@echo
 	@echo "   [Firmware]"
 	@echo "     <board>              - Build firmware for <board>"
 	@echo "                            supported boards are ($(ALL_BOARDS))"
@@ -138,6 +142,10 @@ help:
 	@echo "   [Unbrick a board]"
 	@echo "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 	@echo "                            supported boards are ($(BL_BOARDS))"
+	@echo "   [Unittests]"
+	@echo "     ut_<test>            - Build unit test <test>"
+	@echo "     ut_<test>_tap        - Run test and capture TAP output into a file"
+	@echo "     ut_<test>_run        - Run test and dump TAP output to console"
 	@echo
 	@echo "   [Simulation]"
 	@echo "     sim_osx              - Build OpenPilot simulation firmware for OSX"
@@ -733,37 +741,69 @@ sim_osx_%: uavobjects_flight
 #
 ##############################
 
-UT_TARGETS := logfs
-.PHONY: ut_all
-ut_all: $(addprefix ut_, $(UT_TARGETS))
+ALL_UNITTESTS := logfs
 
 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 
 $(UT_OUT_DIR):
 	$(V1) mkdir -p $@
 
-ut_%: $(UT_OUT_DIR)
-	$(V1) cd $(ROOT_DIR)/flight/tests/$* && \
-		$(MAKE) --no-print-directory \
+.PHONY: all_ut
+all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_tap
+all_ut_tap: $(addsuffix _tap, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_run
+all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: ut_all_clean
+all_ut_clean:
+	$(V0) @echo " CLEAN      $@"
+	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
+
+# $(1) = Unit test name
+define UT_TEMPLATE
+.PHONY: ut_$(1)
+ut_$(1): ut_$(1)_run
+
+ut_$(1)_%: $$(UT_OUT_DIR)
+	$(V1) mkdir -p $(UT_OUT_DIR)/$(1)
+	$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
+		$$(MAKE) -r --no-print-directory \
 		BUILD_TYPE=ut \
-		BOARD_SHORT_NAME=$* \
+		BOARD_SHORT_NAME=$(1) \
 		TCHAIN_PREFIX="" \
 		REMOVE_CMD="$(RM)" \
 		\
-		TARGET=$* \
-		OUTDIR="$(UT_OUT_DIR)/$*" \
+		TARGET=$(1) \
+		OUTDIR="$(UT_OUT_DIR)/$(1)" \
 		\
 		PIOS=$(PIOS) \
 		OPUAVOBJ=$(OPUAVOBJ) \
 		OPUAVTALK=$(OPUAVTALK) \
 		FLIGHTLIB=$(FLIGHTLIB) \
 		\
-		$*
+		GTEST_DIR=$(GTEST_DIR) \
+		\
+		$$*
 
-.PHONY: ut_clean
-ut_clean:
-	$(V0) @echo " CLEAN      $@"
-	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
+.PHONY: ut_$(1)_clean
+ut_$(1)_clean:
+	$(V0) @echo " CLEAN      $(1)"
+	$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
+
+endef
+
+# Expand the unittest rules
+$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
+
+# Disable parallel make when the all_ut_run target is requested otherwise the TAP
+# output is interleaved with the rest of the make output.
+ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
+.NOTPARALLEL:
+$(info *NOTE*     Parallel make disabled by all_ut_run target so we have sane console output)
+endif
 
 ##############################
 #

make/tools.mk

@@ -350,9 +350,6 @@ gtest_install: gtest_clean
 	  $(MAKE) $(GTEST_SILENT) ; \
 	)
 
-        # delete the extracted source when we're done
-	#$(V1) [ ! -d "$(GTEST_BUILD_DIR)" ] || $(RM) -rf "$(GTEST_BUILD_DIR)"
-
 .PHONY: gtest_clean
 gtest_clean:
 	$(V0) @echo " CLEAN        $(GTEST_DIR)"

make/unittest.mk

@@ -54,15 +54,22 @@ ALLCPPSRC       := $(wildcard ./*.cpp)
 ALLSRCBASE      := $(notdir $(basename $(ALLSRC) $(ALLCPPSRC)))
 ALLOBJ          := $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
 
-.PHONY: $(TARGET)
-$(TARGET): | $(OUTDIR)
-$(TARGET): $(OUTDIR)/$(TARGET).elf
-
-$(OUTDIR):
-	$(V1) mkdir -p $@
+.PHONY: elf
+elf: $(OUTDIR)/$(TARGET).elf
 
 $(foreach src,$(ALLSRC),$(eval $(call COMPILE_C_TEMPLATE,$(src))))
 $(foreach src,$(ALLCPPSRC),$(eval $(call COMPILE_CXX_TEMPLATE,$(src))))
 
 $(eval $(call LINK_CXX_TEMPLATE,$(OUTDIR)/$(TARGET).elf,$(ALLOBJ) $(GTEST_LIBS)))
 
+.PHONY: tap
+tap: $(OUTDIR)/$(TARGET).tap
+
+$(OUTDIR)/$(TARGET).tap: $(OUTDIR)/$(TARGET).elf
+	$(V0) @echo " TAP       $(MSG_EXTRA)  $(call toprel, $@)"
+	$(V1) $< > $@
+
+.PHONY: run
+run: $(OUTDIR)/$(TARGET).elf
+	$(V0) @echo " TAP RUN   $(MSG_EXTRA)  $(call toprel, $<)"
+	$(V1) $<